Manipulator device for use with industrial robots

ABSTRACT

A manipulator device for an industrial robot comprises a gripper mechanism, a reciprocatory motor for actuating the gripper mechanism and a pair of oscillatory motors for effecting angular displacement of the gripper mechanism about two mutually perpendicular axes. The reciprocatory motor and the pair of oscillatory motors are fluid-actuated and a fluid circuit is provided internally of the fluid motors for effecting actuation of each of the fluid motors independently of the operation of the others.

United States Patent 1191 Kitamura 1 Sept. 18, 1973 MANIPULATOR DEVICEF011 USE WITH INDUSTRIAL ROBOTS [7'5] Inventor: Yoshiairiliitamura,Kamagaya machi,Japan J m /sagas; Kabushiki Kliishti 1111111 Seikasha,

'TokyoJapan Eff Filed? EEK 2T1??? [21] Appl. No; 212,552

Foreign Application Priority Data Dec. 26, 1970 Japan 45/118894 52][1.5. CI....... 294/88, 61/69 R, 214/1 CM;

. V a 294/106 51 Int. Cl. B2511 1/18,'B63c 11/00 61/69 R, 69 A; 114/16R; 214/1 CM I References Cited UNITED STATES PATENTS 3,451,224 6/1969Colechia et al..l 61/69 [581' :Field ofSeareh....',.....;...; 298/88,106;-

3,236,397 2/1966 Lakin 214/1 Primary Examiner-Even C. Blunk AssistantExaminer-Johnny D. Cherry Attorney-Robert E. Burns et a1.

ABSTRACT A manipulator device for an industrial robot comprises agripper mechanism, a reciprocatory motor for actuating the grippermechanism and a pair of oscillatory motors foretfecting angulardisplacement-of the gripper fin 661181115111 about two mutuallyperpendicular axes. The reciprocatory motor and the pair of oscillatorymotors are fluid-actuated and a fluid circuit is provided internally ofthe fluid motors for effecting actuation of each of the fluid motorsindependently of the operation of the others.

12 Claims, 6 Drawing Figures MANIPULATOR DEVICE FOR USE WITH INDUSTRIALROBOTS The present invention pertains to a manipulator device for use inautomatic machinery and more particularly, to a manipulator devicehaving a high degree of positional accuracy and which is compact andsuitable for use in industrial robots.

Manipulator devices are presently being used'in industrial robots andsuch manipulator devices are intended to function much in the samemanner as human hands. Unfortunately, the manipulator devices which arecurrently available have avery restricted degree of movement andtherefore have a very limited number of operations which they canperform. Another disadvantage of the conventional manipulator devices isthat they are restricted to comparatively simple transfer opera'tionsand usually are capable of only transferring an object from one point toanother point. Moreover, the currently available manipulator devices areusually either electrically or hydraulically powered and externalelectrical connections or hydraulic connections are required to actuatethe manipulator.

It is therefore a primary object of the present invention to provide amanipulator device capable of performing diverse movements and thereforehaving a high degree of versatility.

Another object of the present invention is to provide a manipulatordevice of light-weight and compact construction and which is ideallysuited for use in industrial robots.

It is a further object of the present invention to provide a manipulatordevice capable of gripping an object and angularly displacing the objectabout two mutually perpendicular axes while effecting angulardisplacement about each axis independently of the other.

It is a still further object of the present invention to provide amanipulator device which is actuated by compressed air and is thereforeoperable at high speeds.

It is yet still another object of the present invention to provide amanipulator device which is fluid-actuated and which contains thecomplete fluid circuit internally of the device so that no externalconnections are necessary.

The above-mentioned objects are carried out according to the presentinvention by providing a manipulator device having gripping means forreleasably gripping an object, a fluid-actuated reciprocatory motor foractuating the gripping means, and a pair of fluid-actuated oscillatorymotors for effecting pivotal movement of the gripping means about twomutually perpendicular axes. Fluid circuit means is provided forsupplying and exhausting motor fluid to each of the fluid motors and foreffecting actuation of each of the motors independently of the actuationof the other motors.

Having in mind the above and other objects that will I be evident froman understanding of this disclosure, the

present invention comprises the combination and arrangement of partsillustrated in the preferred embodiment of the invention whichi'shereinafter set forth in sufficient detail to enable those skilled inthe art to FIG. '1 is a top plan view of-a manipulator device accordingto the present invention;

FIG. 2 is a cross-sectional view of the manipulator device shown in FIG.1 taken along the line IIII;

FIG. 3 is a cross-sectional view taken along the line III-III in FIG. 2showing a portion of one oscillatory motor;

FIG. 4 is a cross-sectional view taken along the line IV-IV in FIG. 2showing a portion of the other oscillatory motor;

FIG. 5 is a cross-sectional view taken along the line V-V in FIG. 2 of afluid bypass circuit used with the oscillatory motor shown in FIG. 4;and

FIG. 6 is a bottom view of the manipulator device shown in FIG. 1.

The manipulatordevice of the present invention basically comprises agripper mechanism 10 for releasably gripping an object, a reciprocatoryfluid motor 30 operable to actuate the gripping means, and a pair ofoscillatory fluid motors 50, operable to oscillate or pivot the grippingmeans 10 about two mutually orthogonal axes. The manipulator device isconnected to an arm 200 of an industrial robot (not shown) and performsvarious mechanical movements in response to programmed information fedinto the robot.

The gripping means 10 comprises a pair of movable gripping jaws l2, 13which are mounted in a well known manner for movement towards and awayfrom each other to grip therebetween an object. As seen in FIG. 6, thegripping jaws are mechanically connected together by a linkage systemincluding a link member 15 pivotally coupled at one end to the jaw 12and another link member 16 pivotally coupled at one end to the jaw 13.The two link members are pivotally con nect'ed at their other end to apin 14 which is connected to the reciprocatory motor 30 whereby thelinkage system is actuated by the motor to open and close the jaws inresponse to reciprocal movement of the fluid motor.

As most clearly seen in FIG. 2, the reciprocatory motor 30 comprises acylinder 32 and a working piston 33 mounted for reciprocal movementwithin the cylinder. The working piston 33 is biased into one endposition by a biasing spring 35 and when in this end position, a smallclearance 38 is provided between the working face of the piston and theend wall of the cylinder. The clearance is obtained by a smallprojection on the piston head which abuts against the cylinder end wallthereby maintaining the working face of the piston 33 in spaced-apartrelationship from the cylinder end wall.

The working piston 33 has a piston rod 39 connected to the pin 14 of thegripping means 10 whereby reciprocation of the piston accordinglyeffects opening and closing of the gripper jaws. The working piston isreciprocated in the rightward direction, as seen in FIG. 2, by applyingpressurized motive fluid thereto and when the fluid pressure isrelieved, the biasing spring 35 effects movement of the piston in theleftward direction to the position shown in FIG. 2. The motive fluid isapplied to the working piston by a fluid circuit including a conduit 40which opens into the clearance 38. The fluid circuit and its modeofoperation will be .described in detail hereinafter. Thus it may beappreciated that by selectively supplying and exhausting pressurizedmotive fluid to and from the reciprocatory motor 30, the motor isreciprocally driven to actuate the gripping means 10. i U

The oscillatory motor 50 is a fluid-actuated vane type oscillatory motorand comprises a shaft 51 pivotally mounted within a housing 52. One endof the shaft 51 is rigidly connected to the cylinder 32 whereuponangular movement ofthe shaft 51 effects a corresponding angular movementof the reciprocatory motor 30 and hence a similar angular movement ofthe gripping means 10. The other end of the shaft 51 is pivotallymounted within the housing 52 by means ofa screw 48 threaded into theend tip of the shaft and the screw is rotatably mounted on a bushing 49.

The housing 52 contains therein a pair of arcuate working chambers 54and 55 as most clearly seen in FIG. 4. A vane 56 is connected to theshaft 51 and extends radially outwardly from the shaft into the chamber54 dividing the chamber into subchambers 54a and 54b. In a similarmanner, another radially extending vane 57 is connected to the shaft 51in diametrically opposed relationship from the vane 56 and divides thechamber 55 into subchambers 55a and 55b. Each of the vanes extendaxially along a portion of the shaft 51 and coact with wall portions oftheir respective chambers to provide an effective fluid-tight sealbetween the subchambers during angular movement of the shaft 51.

Each vane comprises a pair of overlapping rectangular plates and for thesake of clarity, the vane has been shown as a one piece unit in FIGS. 3and 4. The twopiece structure of the vanes is shown in FIG. 2 and eachvane comprises a first rectangular plate connected to the shaft 51 and asecond rectangular plate slidably connected to the first rectangularplate. The second rectangular plate is mounted for radial slidingmovement relative to the first rectangular plate and a U- shaped springis positioned between the two rectangular plates to effectively bias thesecond plate into sliding contact with the chamber wall. This type ofvane construction is well known in the art and does not constitute partof the present invention.

A fluid circuit is provided for supplying and exhausting working fluidto the oscillatory motor 50 and the fluid circuit includes a fluidconduit 60 opening into the subchamber 54b and another fluid conduit 61opening into the subchamber 55a. In order to actuate the oscillatorymotor and effect angular displacement of the shaft 51 about itslongitudinal axis in a counterclockwise direction as viewed in FIG. 4,motive fluid is supplied to the conduit 60 and the conduit 61 is openedto exhaust by means of a distributor valve of well known construction(not shown). Pressurized fluid thus flows into the subchamber 54b andacts against one face of the vane 56 to pivot the shaft 51 in acounterclockwise direction while the fluid contained in the subchamber55a is forced out of the conduit 61 by the counterclockwise movement ofthe vane 57. The shaft 51 is angularly displaced in a clockwisedirection about its axis by reversing the supplying and exhausting ofthe motive fluid to the conduits 60 and 61 whereupon the vane 57 isactuated by the motive fluid supplied to the subchamber 55a and thefluid contained in the subchamber 54b is exhausted through the conduit60 due to the clockwise movement of the vane 56.

A fluid bypass system is provided to facilitate the actuation of theoscillatory motor 50 and to increase the driving torque of the drivenshaft 51. The fluid bypass system comprises means for interconnectingthe subchamber 54b with the subchamber 55b and means for interconnectingthe subchamber 54a with the subchamber 550 so that motive fluid issimultaneously applied to both vanes during actuation of the motor andthe torque applied to the shaft 51 is therefore double the value ofthetorque when ohly one vane is positively driven by the motive fluid.

As seen in FIGS. 2 and 5, the bypass circuit comprises a ring plate 64superposed above the arcuate chambers 54 and 55. The ring plate has acentral opening 65 through which the shaft 51 extends and the ring plateeffectively covers the top of the chambers 54 and 55. Within the ringplate 64 is provided a first arcuate groove 67 which opens at one endinto the subchamber 54b and at the other end into the subchamber 55b.Another arcuate groove 68 is provided in the ring plate and one end ofthe groove 68 opens into the subchamber 54a whereas the other end of thegroove opens into the subchamber 55a.

By such an arrangement, motive fluid supplied by the conduit 60 into thesubchamber 54b is also supplied through the groove 67 into thesubchamber 55b to act upon both of the vanes 56 and 57 while bothsubchambers 54a and 55a are in communication with one another throughthe groove 68 and are opened to exhaust through the conduit 61.

The oscillatory motor 70 is also a fluid-actuated vane type motor andcomprises a shaft 81 mounted for pivotal or oscillatory movement in asupport member 82. The support member 82 is connected at one end to ahousing 83 and is connected at the other end to an arm 200 of the robot(not shown). The housing 83 and the support member 82 comprise anintegral assembly and are connected to the transfer arm 200 by screws85.

One end portion of the shaft 81 is rigidly connected to the housing 52of the oscillatory motor 50 and as shown in FIG. 2, the housing 52actually comprises an extension of the shaft 81. A screw 84 is threadedthrough a stationary portion of the oscillatory motor 50 into the shaft81 and by such an arrangement, the oscillatory motor 50 along with thereciprocatory motor 30 and the gripper mechanism 10 are pivotabletogether as an integral unit with the shaft 81. Thus, any angulardisplacement of the shaft 81 is accompanied by a corresponding angulardisplacement of the gripping means The housing 83 is provided along itsupper portion with stepped arcuate guiding surfaces 86 and these steppedsurfaces extend along an angular arc defining the locus of angularmovement of the shaft 81. The shaft 81 is provided with complementarystepped guiding surfaces 87 which coact with the guiding surfaces 86 toensure that the shaft 81 is angularly displaced along a constant arcuatepath of travel. In other words, the complementary guiding surfacesprevent the movable shaft 81 from moving relative to the housing 83except for angular displacement along a predetermined arcuate path aboutits longitudinal axis.

As best seen in FIG. 3, the oscillatory motor includes a vane 90connected to the shaft 81 and extending radially outwardly therefrominto a working chamber 91 within the housing 83. The vane 90 hassubstantially the same two-piece construction as the vanes 56, 57 andextends axially along a portion of the shaft 81 coacting with thehousing 83 to divide the chamber 91 into subchambers 91a and 91b.

A fluid supply-and-exhaust port 92 opens into the subchamber 91a and asimilar supply-and-exhaust port 93 opens into the subchamber 91b.Suitable distributing valve means (not shown) is provided to selectivelysupply and exhaust motive fluid to the ports 92, 93 to .ther of theoscillatory motors.

The extent of angular-displacement of the shaft 81 may be selectivelyvaried by means of a stroke pin 95 extending outwardly from the,housing83'coacting with an adjustable stop member on the shaft 81. Thestop I member comprises a ring 96 rotatably mounted on the shaft 81 anda threaded set screw 97 threaded into the the working face of the piston33 to drive the piston through a stroke and accordingly actuate thegripper mechanism 10 to close the gripper jaws 12, 13 releasably grip anobject.

The distributor valve is operable to selectively apply motive fluid toeither the annular groove 73 or 74 while simultaneously opening theother of the annular grooves to exhaust. Assuming that the distributorvalve connects the annular groove 73 to the source of motive fluid andthe annular groove 74 to exhaust, motive fluid is delivered through theannular groove 73 into the conduit 60 and-then into the subchamber 54bof the osring 96'and engageable with the surface of the shaft 81 toreleasably lock the ring in place and the head of the set screw 97 isdimensioned to'abut against the strike pin 95 thereby limiting thedegree of pivotal movement of the shaft 81. A'similar arrangement may beprovided on the oscillatory motor 50. l

The fluid circuit-for effecting actuation of the various fluid motorswill now be described. A series of fluid conduits-are providedfor-supplying and exhausting motive fluid toand from the fluid motors toactuate each of the motors independently of the other motors. Most ofthe fluid conduits extend through the shaftSl and as seen in FIGS. 2 and3, the conduits 60, 61 andanother conduit 70 extend longitudinallythrough the shaft8l.

Each of the conduits 60,61. abd 7.0 open intoan annular grooveprovided'in the support member 82.

The annular grooves are shown in FIG. 2 and comprise an annularg'roove-72'in continuous communicationwith' the fluidconduit 70-, anannular groove73lin continuous communication with. the fluid conduit 60and another annular groove 74 in constant communication with the conduit61. Each of the conduits 60, 61

and 70 have a radially extending portion opening into its'respectiveannular groove and by such a construction, the fluid conduits aremaintained in continuous communication with their associated groovesirrespective of the angular position of the shaft'8l'.

Each of the annular grooves 72, 73and 74 along with the ports 92 and 93are connected to a distributor valve (not shown) which distributes themotive fluid to actuate the fluid motors. The distributor valve is of'well known construction-and functions to selectively supply and exhaustmotive fluid, preferably compressed air,,to the fluid ports 92 and 93 aswell as .to the annular grooves 72, 73 and 74. I

One end of the conduit 70 terminates in an annular groove 76, asdelineated in FIG. 2. A fluid conduit 77 extends longitudinally throughthe shaft 51 and is connected to the conduit 40 The conduit 77 has aradially extending portion which opens into the annular groove 76through which the conduit 77 isfmaintained in constant communicationwith theannular gi'oq f 76, irregardless om: angular di'spos'ition ofeither the shaft 51 'orthe shaft 81. 'lhisc'ons'truction enables thereciprocatory motor 30 to'be controlled independently ofeithe conduit 40and into the clearance 38 to actuatethe cillatory motor 50.Simultaneously with the supplying of motive fluid to the subchamber 54b,the subchamber 55a is open to exhaust through the conduit 61 and theannular groove 74.

The motive fluid supplied to the subchamber 54b is also supplied to thesubchamber 55b through the fluid bypass circuit and the subchamber 54ais also connected to the subchamber 55a and therefore to exhaust throughthe fluid bypass circuit. The motive fluid acts upon the vanes 56 and 57to pivot the shaft 51 in a counterclockwise direction and theoscillatory moveinent of the shaft 51 is obtained completelyindependently of the actuation of'both the oscillatory motor 80 and thereciprocatory motor 30.

To pivot the shaft 51 in a clockwise direction, the distributor valve isoperated to supply motive fluid to the annular groove 74 whileexhausting fluid from the annular groove 73.

The oscillator'y motor 80 is actuated by supplying and exhausting motivefluid to the fluid ports 92 and 93. To

pivot the shaft 8 1 in a clockwise direction, the distributor valve .isselectively-actuated to supply motive fluid to the port 93 while openingthe port 92 to exhaust. Motivefluid is therefore fed into the subchamber91b and coacts with the vane 90 to piviot or angularly displace theshaft 81 in a clockwise direction while the fluid existing in thesubchamber 91a is forced out the exhaust port 92. I

The shaft 81 ispivoted in a counterclockwise direction by reversing thedistribution of motive fluid to the ports 92 and 93 so that motive fluidis supplied to the port 92 and exhausted from the port 93.

' The gripper mechanism 10 may be actuated by the reciprocatory motorwhile the oscillatory motors and 80 are in any position. Similarly, eachof the oscillatory motors may be actuated independently of the other aswell as independently of the actuation of the reciprocatory'motor 30.The oscillatory motor 50 effects oscillating movement of the grippermechanism I 10 about one longitudinally extending axis while the osaxisof the motor 50.

Thus the manipulator device constructed'in accordance with theprinciples of the present invention is ideally suited for use inindustrial robots clue to its borad versatility of controlled movements.The gripper mechanism isindependently pivotable about two orf thogonalaxes and the gripper mechanism itself is actureciprocatory motor 30.Themotive fluid acts against atable independently of the oscillatorymotors.

Moreover, the manipulator device of the present invention is small insize, constructed of light-weight materials, and is preferably designedto be'actuated by compressed air. These features render the manipulatordevice easily transportable and the manipulator device may be considereda portable device in contrast to the much larger hydraulically poweredmanipulators currently being used. In addition, the various fluidconduits for actuating the fluid motors are wholly contained interiorlyof the manipulator device thereby avoiding the cumbersome and spaceconsuming external arrangement of fluid conduits prevalent in the priorart.

Many modifications of the aforedescribed embodiment will be readilyobvious to those skilled in the art and the present invention includesall such modifications falling within the scope and spirit of theinvention as defined by the appended claims.

What I claim and desire to secure by letters patent is:

l. A manipulator device for manipulating an object comprising: actuablegripping means for releasably gripping an object during use of themanipulator device; first fluid-actuated means connected to saidgripping means and responsive to motive fluid supplied thereto andexhausted therefrom to actuate said gripping means; secondfluid-actuated means connected to said gripping means and responsive toreleasably gripping an object during use of the manipulator device;first fluid-actuated means connected to said gripping means andresponsive to motive fluid supplied thereto and exhausted therefrom toactuate said gripping means, said first fluid-actuated means comprisinga reciprocatory motor having a cylinder and a reciprocatory workingmember reciprocably mounted within said cylinder and connected to saidgripping means to actuate same in response to reciprocal movement ofsaid working member; second fluid-actuated means connected to saidgripping means responsive to motive fluid supplied thereto and exhaustedtherefrom to effect angular movement of said gripping means about oneaxis, said second fluid actuated means comprising an oscillatory motorhaving a housing, at least one working member mounted for oscillatorymovement within said housing, and a movably mounted output memberconnected to both said working member and cylinder to transmitoscillatory movement of said working member to said cylinder; thirdfluid-actuated means connected to said gripping means and responsive tomotive fluid supplied thereto and exhausted therefrom to effect angularmovement of said gripping means about another axis, said thirdfluid-actuated means comprising another oscillatory motor having anotherhousing, another working member mounted for oscillatory movement withinsaid another housing, and another movably mounted output memberconnected to both said another working member and said housing of saidfirst-mentioned oscillatory motor to transmit oscillatory movement ofsaid another working member to said housing and fluid circuit meansconnectable to a source of motive fluid for supplying and exhaustingmotive fluid to and from each of said first, second and thirdfluid-actuated means to accordingly actuate same.

2. A device according to claim I; wherein said fluid circuit meansincludes means for supplying and exhausting motive fluid to and fromeach said fluidactuated means independently of the supplying andexhausting of motive fluid to and from the other fluidactuated means toaccordingly effect actuation of said fluid actuated means independentlyof the actuation of the other.

3. A device according to claim 1; including means locating said fluidcircuit means entirely interiorly of said first, second and thirdfluid-actuated means.

4. A device according to claim 1; including means connecting said firstfluid-actuated means to the output shaft of said second fluid-actuatedmeans to effectively transmit any angular movement of either said secondand third fluid-actuated means into a corresponding angular movement ofsaid first fluid-actuated means.

5. A device according to claim 1; including means positioning said oneaxis perpendicular to said another axis.

6. A device according to claim 1; wherein said fluid circuit meansincludes means for supplying and exhausting motive fluid to and fromeach said fluidactuated means independently of the supplying andexhausting of motive fluid to andfrom the other fluidactuated means toaccordingly effect actuation of each said fluid-actuated meansindependently of the actuation of the other.

7. A manipulator device for manipulating an object comprising:actuatable gripping means for releasably gripping an object during useof the manipulator device; first fluid-actuated means connected to saidgripping means and responsive to motive fluid supplied thereto andexhausted therefrom to actuate said gripping means, said firstfluid-actuated means comprising a reciprocatory motor having a cylinderand a reciprocatory working member reciprocably mounted within saidcylinder and connected to said gripping means to actuate same inresponse to reciprocal-movement of said working member; secondfluid-actuated means connected to said gripping means responsive tomotive fluid supplied thereto and exhausted therefrom to effect angularmovement of said gripping means about one axis, said second fluidactuated means comprising an oscillatory motor having a housing, atleast one working member mounted for oscillatory movement within saidhousing, and a movably mounted output member connected to both saidworking member and cylinder to transmit oscillatory movement of saidworking member to said cylinder; third fluid-actuated means connected tosaid gripping means and responsive to motive fluid supplied thereto andexhausted therefrom to effect angular movement of said gripping meansabout another axis, said third fluid-actuated means comprising anotheroscillatory motor having another housing, another working member mountedfor oscillatory movement within said another housing, and anothermovably mounted output member connected toboth said another workingmember and said housing of said first-mentioned oscillatory motor totransmit oscillatory movement of said another working member to saidhousing; and fluid circuit means connectable to a source of motive fluidfor supplying and exhausting motive fluid to and from each of saidfirst, second and third fluid-actuated means to accordingly actuatesame.

8. A device according to claim 7, including means mounting said outputmember for oscillatory angular movement about said one axis, and meansmounting said another output member for oscillatory angular movementabout said another axis perpendicular to 4 said one axis.

9. A device according to claim 7; wherein said fluid circuit meansincludes means defining a longitudinally extending bore in said outputmember opening at one end into said cylinder on one side of saidreciprocatory working member, means defining a longitudinally extendingfluid passage in said another output member, means defining a groove insaid another housing connectable to a source of motive fluid and inconstant communication with said fluid passage irrespective of theangular movement of said another output member, and means defininganother groove in said housing providing constant communication betweensaid bore and fluid passage irrespective of the angular movements ofsaid output member and said another output member, whereby motive fluidmay be supplied to and exhausted from said cylinder independently of theangular position of said output member and said another output member. v

10. A device according to claim 7; wherein said firstmentionedoscillatory motor comprises a pair of arcuate working chambers and apair of working members connected to said output member incircumferentially spaced-apart relationship and each mounted foroscillatory movement within one of said arcuate working chambers; andwherein said fluid circuit means in cludes a fluid bypass circuitoperative to simultaneously supply and exhaust motive fluid to and fromsaid pair of arcuate working chambers.

. 11. A device according to claim 10; wherein said fluid bypass circuitcomprises a ring plate having means therein defining a pair of arcuategrooves each comm unicating one arcuate working chamber with the otheron opposite sides of said working members.

12. A device according to claim 7; including means for variably settingthe limit of angular movement at least one of said oscillatory motors.

# i i l

1. A manipulator device for manipulating an object comprising: actuablegripping means for releasably gripping an object during use of themanipulator device; first fluid-actuated means connected to saidgripping means and responsive to motive fluid supplied thereto andexhausted therefrom to actuate said gripping means; secondfluid-actuated means connected to said gripping means and responsive tomotive fluid supplied thereto and exhausted therefrom to effect angularmovement of said gripping means about one axis; third fluid-actuatedmeans connected to said gripping means and responsive to motive fluidsupplied thereto and exhausted therefrom to effect angular movement ofsaid gripping means about another axis, each of said second and thirdfluid-actuated means comprising an oscillatory motor having an outputshaft and at least one working member connected thereto and responsvieto motive fluid applied thereto to effect oscillatory angular movementof its output shaft; means connecting said second fluid-actuated meansto the output shaft of said third fluid-actuated means to effectivelytransmit any angular movement of said third fluid-actuated means into acorresponding angular movement of said second fluid-actuated means; andfluid circuit means connectable to a source of motive fluid forsupplying and exhausting motive fluid to and from each of said first,second and third fluid-actuated means to accordingly actuate same.
 2. Adevice according to claim 1; wherein said fluiD circuit means includesmeans for supplying and exhausting motive fluid to and from each saidfluid-actuated means independently of the supplying and exhausting ofmotive fluid to and from the other fluid-actuated means to accordinglyeffect actuation of said fluid-actuated means independently of theactuation of the other.
 3. A device according to claim 1; includingmeans locating said fluid circuit means entirely interiorly of saidfirst, second and third fluid-actuated means.
 4. A device according toclaim 1; including means connecting said first fluid-actuated means tothe output shaft of said second fluid-actuated means to effectivelytransmit any angular movement of either said second and thirdfluid-actuated means into a corresponding angular movement of said firstfluid-actuated means.
 5. A device according to claim 1; including meanspositioning said one axis perpendicular to said another axis.
 6. Adevice according to claim 1; wherein said fluid circuit means includesmeans for supplying and exhausting motive fluid to and from each saidfluid-actuated means independently of the supplying and exhausting ofmotive fluid to and from the other fluid-actuated means to accordinglyeffect actuation of each said fluid-actuated means independently of theactuation of the other.
 7. A manipulator device for manipulating anobject comprising: actuatable gripping means for releasably gripping anobject during use of the manipulator device; first fluid-actuated meansconnected to said gripping means and responsive to motive fluid suppliedthereto and exhausted therefrom to actuate said gripping means, saidfirst fluid-actuated means comprising a reciprocatory motor having acylinder and a reciprocatory working member reciprocably mounted withinsaid cylinder and connected to said gripping means to actuate same inresponse to reciprocal movement of said working member; secondfluid-actuated means connected to said gripping means responsive tomotive fluid supplied thereto and exhausted therefrom to effect angularmovement of said gripping means about one axis, said second fluidactuated means comprising an oscillatory motor having a housing, atleast one working member mounted for oscillatory movement within saidhousing, and a movably mounted output member connected to both saidworking member and cylinder to transmit oscillatory movement of saidworking member to said cylinder; third fluid-actuated means connected tosaid gripping means and responsive to motive fluid supplied thereto andexhausted therefrom to effect angular movement of said gripping meansabout another axis, said third fluid-actuated means comprising anotheroscillatory motor having another housing, another working member mountedfor oscillatory movement within said another housing, and anothermovably mounted output member connected to both said another workingmember and said housing of said first-mentioned oscillatory motor totransmit oscillatory movement of said another working member to saidhousing; and fluid circuit means connectable to a source of motive fluidfor supplying and exhausting motive fluid to and from each of saidfirst, second and third fluid-actuated means to accordingly actuatesame.
 8. A device according to claim 7, including means mounting saidoutput member for oscillatory angular movement about said one axis, andmeans mounting said another output member for oscillatory angularmovement about said another axis perpendicular to said one axis.
 9. Adevice according to claim 7; wherein said fluid circuit means includesmeans defining a longitudinally extending bore in said output memberopening at one end into said cylinder on one side of said reciprocatoryworking member, means defining a longitudinally extending fluid passagein said another output member, means defining a groove in said anotherhousing connectable to a source of motive fluid and in constantcommunication with said fluid passage irrespective of the angularmovement of said another output member, and means defining anothergroove in said housing providing constant communication between saidbore and fluid passage irrespective of the angular movements of saidoutput member and said another output member, whereby motive fluid maybe supplied to and exhausted from said cylinder independently of theangular position of said output member and said another output member.10. A device according to claim 7; wherein said first-mentionedoscillatory motor comprises a pair of arcuate working chambers and apair of working members connected to said output member incircumferentially spaced-apart relationship and each mounted foroscillatory movement within one of said arcuate working chambers; andwherein said fluid circuit means includes a fluid bypass circuitoperative to simultaneously supply and exhaust motive fluid to and fromsaid pair of arcuate working chambers.
 11. A device according to claim10; wherein said fluid bypass circuit comprises a ring plate havingmeans therein defining a pair of arcuate grooves each communicating onearcuate working chamber with the other on opposite sides of said workingmembers.
 12. A device according to claim 7; including means for variablysetting the limit of angular movement at least one of said oscillatorymotors.